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<p><code>#include &lt;<a class="el" href="_pid_motor_controller_8hpp_source.html">PidMotorController.hpp</a>&gt;</code></p>
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Inheritance diagram for PidMotorController:</div>
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  <img src="class_pid_motor_controller.png" usemap="#PidMotorController_map" alt=""/>
  <map id="PidMotorController_map" name="PidMotorController_map">
<area href="class_can_jaguar_wrapper.html" alt="CanJaguarWrapper" shape="rect" coords="0,112,149,136"/>
<area href="class_encoder_motor_controller.html" alt="EncoderMotorController" shape="rect" coords="159,112,308,136"/>
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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a13eddfb79a251f572067f2e2f214b000"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> { <br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ac0237a20da41d0e3e0d8580f80ef4c04">PercentVBus</a> = CANJaguar::kPercentVbus, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a943fee08c50fe4d9b9b34fb8e876b46f">Speed</a> = CANJaguar::kSpeed, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ace273af498d1fda861939cfa5969ac0d">Position</a> = CANJaguar::kPosition, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ae344611d419ee7d0db9e299783c77497">Voltage</a> = CANJaguar::kVoltage, 
<br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a7b7f434ca2ce980d197feccc28e7bfa1">Current</a> = CANJaguar::kCurrent
<br/>
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Public Member Functions</h2></td></tr>
<tr class="memitem:a086b084fef771d37614d6b22a907d6a3"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a086b084fef771d37614d6b22a907d6a3">PIDWrite</a> (float output)</td></tr>
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<tr class="memitem:af2c5353a5de95fba5f18806eb6334441"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#af2c5353a5de95fba5f18806eb6334441">PIDGet</a> ()</td></tr>
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<tr class="memitem:a694ac2d6827967e8449b8d8cfd4f67b0"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a694ac2d6827967e8449b8d8cfd4f67b0">GetSpeed</a> ()=0</td></tr>
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<tr class="memitem:aed237a512f0edbdc968d2a89932ba8aa"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#aed237a512f0edbdc968d2a89932ba8aa">GetPosition</a> ()=0</td></tr>
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<tr class="memitem:a43fd491df57bc20e6f54ff7bf561cb4a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a43fd491df57bc20e6f54ff7bf561cb4a">Enable</a> (double initialEncoderPosition=0)=0</td></tr>
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<tr class="memitem:a79f8cbc8e9eb867722cd0cf7eb12772a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a79f8cbc8e9eb867722cd0cf7eb12772a">GetControlMode</a> ()=0</td></tr>
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<tr class="memitem:a2bf9cf6c4eb2c98e7af07d10f408762a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a2bf9cf6c4eb2c98e7af07d10f408762a">SetControlMode</a> (<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> mode)=0</td></tr>
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<tr class="memitem:a648fbdb1ddb88b255398a63f7c875d40"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a648fbdb1ddb88b255398a63f7c875d40">SetEncodersCodesPerRevolution</a> (UINT16 codesPerRevolution)=0</td></tr>
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<tr class="memitem:aeaa9df6864320c7aadbd1759223fea17"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#aeaa9df6864320c7aadbd1759223fea17">SetPid</a> (double p, double i, double d)=0</td></tr>
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<tr class="memitem:a3fc5e3c934175105d0b41eeb606fe326"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a3fc5e3c934175105d0b41eeb606fe326">SetPid</a> (<a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a> pid)</td></tr>
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<tr class="memitem:ac78e406263f408dbf96b8c36e6e27e46"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#ac78e406263f408dbf96b8c36e6e27e46">GetP</a> ()=0</td></tr>
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<tr class="memitem:aff6dea3afe08690864c68b4962535fd1"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#aff6dea3afe08690864c68b4962535fd1">GetI</a> ()=0</td></tr>
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<tr class="memitem:a6d40a6d4c2cbb8d34babee2fb9f5c098"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a6d40a6d4c2cbb8d34babee2fb9f5c098">GetD</a> ()=0</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_pid_motor_controller.html">PidMotorController</a> class is a base class that represents a motor that uses PID control to enable control modes other than percent vbus. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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          <td class="memname">enum <a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">PidMotorController::ControlMode</a></td>
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<p>The ControlMode enum is used to select how the motor is controlled by the Set function. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="a13eddfb79a251f572067f2e2f214b000ac0237a20da41d0e3e0d8580f80ef4c04"></a>PercentVBus</em>&nbsp;</td><td class="fielddoc">
<p>The PercentVBus control mode sets the percentage of voltage sent to the motor. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a13eddfb79a251f572067f2e2f214b000a943fee08c50fe4d9b9b34fb8e876b46f"></a>Speed</em>&nbsp;</td><td class="fielddoc">
<p>The Speed control mode sets the speed that the motor spins. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a13eddfb79a251f572067f2e2f214b000ace273af498d1fda861939cfa5969ac0d"></a>Position</em>&nbsp;</td><td class="fielddoc">
<p>The Position control mode sets the position or distance for the motor to spin to. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a13eddfb79a251f572067f2e2f214b000ae344611d419ee7d0db9e299783c77497"></a>Voltage</em>&nbsp;</td><td class="fielddoc">
<p>The Voltage control mode sets the voltage sent to the motor. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="a13eddfb79a251f572067f2e2f214b000a7b7f434ca2ce980d197feccc28e7bfa1"></a>Current</em>&nbsp;</td><td class="fielddoc">
<p>The Current control mode sets the current sent to the motor. </p>
</td></tr>
</table>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">virtual void PidMotorController::Enable </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>initialEncoderPosition</em> = <code>0</code></td><td>)</td>
          <td></td>
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<p>Enable the motor.</p>
<p>If the parameter initialEncoderPosition is passed, the current position should be treated as initialEncoderPosition.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">initialEncoderPosition</td><td>The initial position of the motor. </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a0f2e3e10ff8d453d4f04af5b211c65b9">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a03960c90c7f38d94d8e7b5234d6edd80">EncoderMotorController</a>.</p>

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          <td class="memname">virtual <a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> PidMotorController::GetControlMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Get the current ControlMode that the motor is in.</p>
<dl class="section return"><dt>Returns</dt><dd>The current ControlMode. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#af4f940e61e60e6c1ff48f2da8b5f1a00">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a03f8200c4067751112ffcf3f31885a05">EncoderMotorController</a>.</p>

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          <td class="memname">virtual double PidMotorController::GetD </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Get the current D value</p>
<dl class="section return"><dt>Returns</dt><dd>The current D value. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a4984782f989353ced395f194ef6b19e7">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#adb711b35bdef286ebf5ad94ccae4ffc6">EncoderMotorController</a>.</p>

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          <td class="memname">virtual double PidMotorController::GetI </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the current I value</p>
<dl class="section return"><dt>Returns</dt><dd>The current I value. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a8bf0dcc40ee678cf705e3faf184e551d">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#ab64a776dde1897091083c712c5686ade">EncoderMotorController</a>.</p>

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          <td class="memname">virtual double PidMotorController::GetP </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the current P value</p>
<dl class="section return"><dt>Returns</dt><dd>The current P value. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a31397381c60457cdc00e0aeb2c8f7653">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a5d0475632150b2f5ee7dbea449b45092">EncoderMotorController</a>.</p>

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          <td class="memname">virtual double PidMotorController::GetPosition </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the current position in units of rotations that the motor has reached since motor was enabled.</p>
<p>Warning: Child classes may throw an exception if the position control mode is not supported.</p>
<dl class="section return"><dt>Returns</dt><dd>The current position of the motor. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a22010432547e75a3124999ea1c107b90">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a07f26eb55451d40facae57c603f15283">EncoderMotorController</a>.</p>

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          <td class="memname">virtual double PidMotorController::GetSpeed </td>
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<p>Get the current speed that the motor is running.</p>
<p>Units vary depending on child class because we have not standardized it yet. Warning: Child classes may throw an exception if the speed control mode is not supported.</p>
<dl class="section return"><dt>Returns</dt><dd>The current speed of the motor. </dd></dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a6418ff3efc800bf842d019695c6240df">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#ab1190239ea19ba8cca90ba0b973a3f93">EncoderMotorController</a>.</p>

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<p>This function is implimented to comply with the PIDSource interface. </p>

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          <td class="memname">void PidMotorController::PIDWrite </td>
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          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
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<p>This function is implimented to comply with the PIDOutput interface. </p>

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          <td class="memname">virtual void PidMotorController::SetControlMode </td>
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          <td class="paramtype"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a>&#160;</td>
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<p>Set the ControlMode.</p>
<p>You may need to call Enable to actually change the control mode. Warning: Child classes may throw an exception if mode is not supported.</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">mode</td><td>The desired ControlMode. </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#a4d7809eaa109032e3624b4ef49979bc1">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a070daf843ba72f0bc8fca42a00557c85">EncoderMotorController</a>.</p>

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          <td class="memname">virtual void PidMotorController::SetEncodersCodesPerRevolution </td>
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          <td class="paramtype">UINT16&#160;</td>
          <td class="paramname"><em>codesPerRevolution</em></td><td>)</td>
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<p>Set the number of encoder codes per revolution.</p>
<p>Specify the number of encoder "codes" it takes to complete a revolution.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">codesPerRevolution</td><td>The number of encoder codes per revolution. </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#adae396e477fce5694e7da7a15fbf0e20">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a9c58bd48fb4d416ab132b3ae35367e11">EncoderMotorController</a>.</p>

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          <td class="memname">virtual void PidMotorController::SetPid </td>
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          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>p</em>, </td>
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          <td class="paramname"><em>d</em>&#160;</td>
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<p>Set the P, I, and D values.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">p</td><td>The P value. </td></tr>
    <tr><td class="paramname">i</td><td>The I value. </td></tr>
    <tr><td class="paramname">d</td><td>The D value. </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="class_can_jaguar_wrapper.html#abc09236c254e21d02f80cfa8af906e0c">CanJaguarWrapper</a>, and <a class="el" href="class_encoder_motor_controller.html#a38618c4eac712a8a99eb1af4052b7bd9">EncoderMotorController</a>.</p>

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          <td class="memname">void PidMotorController::SetPid </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a>&#160;</td>
          <td class="paramname"><em>pid</em></td><td>)</td>
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<p>Set the P, I, and D values.</p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramname">pid</td><td>A <a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a> object containing the desired P, I, and D values. </td></tr>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/<a class="el" href="_pid_motor_controller_8hpp_source.html">PidMotorController.hpp</a></li>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/PidMotorController.cpp</li>
</ul>
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